Three-Dimensional Object Position Tracking System

ABSTRACT

A hand-held controller and a positional reference device for determining the position and orientation of the hand-held controller within a three-dimensional volume relative to the location of the positional reference device. An input/output subsystem in conjunction with processing and memory subsystems can receive a reference image data captured by a beacon sensing device combined with inertial measurement information from inertial measurement units within the hand-held controller. The position and orientation of the hand-held controller can be computed based on the linear distance between a pair of beacons on the positional reference device and the reference image data and the inertial measurement information.

This United States patent application is a continuation of U.S. patentapplication Ser. No. 15/669,804, filed Aug. 4, 2017, hereby incorporatedby reference herein.

I. BACKGROUND

Many modern software applications include three-dimensional elements,particularly in industries such as engineering, graphic design, gaming,and medical. Nevertheless, conventional human interface devices maylimit the user's control to two dimensions, despite thethree-dimensional input or output capabilities of modern software.Accordingly, a device, method, and system for providing a user withthree-dimensional control of software may be useful in assisting theuser to operate software with better precision and accuracy.

II. SUMMARY OF THE INVENTION

A broad object of embodiments can be a system including one or more of ahand-held controller and a positional reference device operable fordetermining a position or an orientation of the hand-held controllerwithin a three-dimension volume. In one embodiment, the system includesa beacon sensing device for optically capturing an image of thepositional reference. An input/output subsystem in conjunction withprocessing and memory subsystems can receive the reference image datafrom the beacon sensing device combined with inertial measurementinformation from inertial measurement units within the hand-heldcontroller. The position and orientation of the hand-held controller canbe computed based on the linear distance between a pair of beacons onthe positional reference device and the inertial measurementinformation.

Another broad object of embodiments can be to provide at least onenon-transitory computer readable medium containing processor readablecode for programming one or more processors to perform a methodincluding one or more of: providing a positional reference device;detecting with a beacon sensing device at least two location beaconscoupled in a fixed spaced apart relation to the positional referencedevice; generating inertial sensor signals by way of causing movement ofa hand-held controller; generating reference data from the beaconsensing device; receiving the inertial sensor signals; receiving thereference data; and, computing a position and an orientation of thehand-held controller relative to the positional reference device.

Naturally, further objects of the invention are disclosed throughoutother areas of the specification, drawings, photographs, and claims.

III. A BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is a top, perspective view of an embodiment of a positionalreference device in operation with a hand-held controller held by auser.

FIG. 2 is a perspective view of an embodiment of a positional referencedevice.

FIG. 3 is a diagrammatic view of an embodiment of a positional referencedevice.

FIG. 4 is a side view of an embodiment of a hand-held controller.

FIG. 5 is a diagrammatic view of an embodiment of a hand-heldcontroller.

FIG. 6A is a side view of an embodiment of a hand-held controller and auser finger activating a touch sensitive pad of a hand-held controller.

FIG. 6B is a side view of an embodiment of a hand-held controller and atip of the hand-held controller activating a touch screen tablet.

FIG. 6C is a side view of an embodiment of a hand-held controller and aneraser of the hand-held controller activating a touch screen tablet.

FIG. 7 illustrates an embodiment of a positional reference device inoperation with a hand-held controller within a three-dimensionalcoordinate system.

FIG. 8 illustrates an embodiment of a hand-held controller in operationwith a sensor plane of the beacon sensing device.

FIG. 9 illustrates an embodiment of a positional reference device inoperation with a hand-held controller within a three-dimensional cubicregion.

FIG. 10 illustrates an embodiment of a positional reference device inoperation with a hand-held controller as it is positioned and orientedwithin a three-dimensional cubic region.

FIG. 11 illustrates an embodiment of a positional reference device inoperation with a hand-held controller as it is relocated from athree-dimensional cubic region to a two-dimensional area of a touchscreen tablet.

FIG. 12 illustrates an embodiment of three-dimensional object asdisplayed in an example computer aided design program while using apositional reference device in operation with a hand-held controller.

IV. DETAILED DESCRIPTION

From the descriptions which now follow, it will become readily apparenthow the present invention lends itself to the use of hand-heldcontrollers in a touch free, gesture-control environment with a displayscreen, as well as in a touch screen environment with display screencapabilities.

With this in mind, the significant improvements and specialcontributions made to the art of three-dimensional styli and positionalreference devices according to the invention will become more fullyapparent as the invention description which now follows is read inconjunction with the accompanying drawings.

Referring to the figures wherein like reference numerals denote likestructure throughout the specification, with reference primarily to FIG.1 which depicts a positional reference device (1) and a hand-held (H)controller (25). As to particular embodiments, the hand-held controller(25) in signal transmission with the positional reference device (1),can be used by a user to manipulate objects on a computer display screenand virtual objects within a three-dimensional cubic space.

Now referring primarily to FIG. 2, positional reference device (1) caninclude one or more location beacons (2, 3) and emitters (7, 8),microprocessor subsystems (4), batteries (19), and magnets (21, 22) withother components such as power system (5), positional reference devicenon-transitory computer readable medium (12) (as shown in theillustrative example of FIG. 3), graphics circuitry, audio circuitry,and other circuitry for performing computer tasks, such as thosedescribed herein, enclosed within casing (20).

With reference primarily to FIG. 3, the microprocessor subsystem (4) caninclude one or more of a controller (9), processor(s) (10), or aperipherals interface (11) which are executable to perform the methodsdescribed herein. In addition, positional reference device (1) canfurther include one or more of a power system (5), having a powermonitor (17), power regulator (18), and battery (19) with radiofrequency circuitry (6) for powering the positional reference device (1)in operable communication with the hand-held controller (25) and acomputer device.

In some embodiments of the positional reference device (1),microprocessor subsystem (4) is communicatively coupled to anon-transitory computer readable medium (12) containingcomputer-executable instructions. Microprocessor subsystem (4) can, asan illustrative example, be a printed circuit board having one or morevarious elements disposed thereon for storing data as a non-transitorycomputer readable media (12). The elements of the non-transitorycomputer readable medium (12) can be formed as an integrated circuit orchip having flash memory or any other type of memory structure forstoring data. Further, non-transitory computer readable media (12) ofthe positional reference device (1) can include any of various types ofmemory devices or storage devices.

The non-transitory computer readable medium (12) of the positionalreference device may include other types of memory as well orcombinations thereof. Either together or separately, the microprocessor(4) and non-transitory computer readable medium (12) can be located inthe positional reference device (1) as contemplated by the embodimentsdisclosed herein or as part of a first or second computer device, inwhich the first and second computer devices are connected to one anotherover a network, such as the Internet.

Non-transitory computer readable medium (12) of the positional referencedevice (1) may store one or more computer programs or softwarecomponents according to various embodiments of the present disclosure.For example, non-transitory computer readable medium (12) can store anoperating system (13), a communication module (14), and a beacon module(15) which are executable to perform the methods described herein.Capacity for storing additional modules (16) can also, but need notnecessarily, be included in non-transitory computer readable medium (12)of the positional reference device (1).

In addition, it should be understood that communication protocols can beused for physically and communicatively coupling the positionalreference device (1) to a computing device, in order to facilitate datatransfer between the positional reference device (1) and a computingdevice. Communication protocols can include communication module (14)(as shown in the illustrative example of FIG. 3). Communication module(14), in addition to the descriptions above, can include a physicaltransmission medium, such as a bus, network, or other physicaltransmission medium that conveys signals such as electrical,electromagnetic, or digital signals.

Various embodiments further include receiving or storing instructions ordata implemented in accordance with the foregoing description of thenon-transitory computer readable medium (12) of the positional referencedevice (1).

With continuing reference to primarily FIGS. 2, and 3 the positionalreference device (1) can include location beacons (2, 3), emitters (7,8) a distance (58) between the location beacons (2, 3), and beaconsensing signals (7′, 8′), yet to be described herein. Magnets (21, 22)may be disposed on one or more sidewalls of the casing (20), or at otherlocations, to allow the positional reference device (1) to attach to alaptop computer or the like.

It should be appreciated that any or all of the various elements shownwithin or made up in combination within the positional reference device(1) may be electrically or physically connected to one another.

Now referring primarily to FIGS. 1, 4, and 5, hand-held controller (25)can include a beacon sensing device (46). In an embodiment, the beaconsensing device (46) can be a camera, such as a fine scale camera orother suitable imaging device. In another embodiment, the beacon sensingdevice (46) can be a pinhole camera with minimal lens requirement. Thebeacon sensing device (46) can be another suitable type of image sensorknown for use in low light environments. Various embodiments can furtherinclude optic and image sensors and devices for receiving or storinginstructions or data implemented in accordance with the foregoingdescription upon activation of the beacon sensing device controller (45)with the microprocessor subsystem (26), input/output subsystem (29) andnon-transitory computer readable medium (35) of the hand-held controller(25), yet to be described herein. Furthermore, optic and image sensorsor a camera used as a beacon sensing device (46) may be contained withinthe pen shaped casing (57) of the hand-held controller (25) or mayotherwise be associated with the hand-held controller (25).

By manipulating the hand-held controller (25), beacon sensing device(46) optically identifies beacons (2, 3) on either end of the positionalreference device (1). The beacons (2, 3) are spaced apart a fixeddistance (58). The distance (58) can be any desired distance (58),particularly within a focal range of the desired beacon sensing device(46). It is contemplated that the beacon sensing device (46) can includelens, focal length, and pixel pitch capabilities with optical resolutionat a predetermined distance (58). In one embodiment, the beacons (2, 3)can be physical objects. The physical objects can have a color, form, ortexture contrasting with the positional reference device (1) and thecasing (20). In some embodiments, signals (7′, 8′) transmitted fromemitters (7, 8), respectively can be used as the beacons (2, 3). Signals(7′, 8′) may be radioluminescence, photoluminescence, orelectroluminescence. In another embodiment, signals (7′, 8′) can beinfrared light.

Now referring primarily to FIG. 5, microprocessor subsystem (26) andnon-transitory computer readable medium (35) of the hand-held controller(25) in some embodiments, can be complimentary in application to thepositional reference device (1). Thus, microprocessor subsystem (26) ofthe hand-held controller (25) can be, for example, a printed circuitboard having one or more elements disposed thereon for storing data asnon-transitory computer readable media (35), containingcomputer-executable instructions. The elements of the non-transitorycomputer readable medium (35) can be formed as an integrated circuit orchip having flash memory or any other type of memory structure forstoring data. Further, non-transitory computer readable media (35) ofthe hand-held controller (25) can include any of various types of memorydevices or storage devices.

The non-transitory computer readable medium (35) of the hand-heldcontroller (25) may include other types of memory as well orcombinations thereof. Either together or separately, the microprocessor(26) and non-transitory computer readable medium (35) may be located inthe hand-held controller (25) as contemplated by the embodimentsdisclosed herein or as part of a first or second computer device, inwhich the first and second computer devices are connected to one anotherover a network, such as the Internet.

Non-transitory computer readable medium (35) of the hand-held controller(25) may store one or more computer programs or software componentsaccording to various embodiments of the present disclosure. For example,non-transitory computer readable medium (35) can store operating system(36), communication module (37), touch/contact module (38), imageprocessing module (39), and motion processing module (40) which areexecutable to perform the methods described herein. Capacity for storingadditional modules (41) can also, but need not necessarily, be includedin non-transitory computer readable medium (35) of the hand-heldcontroller (25).

In addition, communication protocols can be used for physically andcommunicatively coupling the hand-held controller (25) to a computingdevice, in order to facilitate data transfer between the hand-heldcontroller (25) and a computing device. Communication protocols caninclude communication module (37) as diagrammed in the example of FIG.5. Communication module (37), in addition to the descriptions above, caninclude a physical transmission medium, such as a bus, network, or otherphysical transmission medium that conveys signals such as electrical,electromagnetic, or digital signals.

Various embodiments further include receiving or storing instructions ordata implemented in accordance with the foregoing description of thenon-transitory computer readable medium (35) of the hand-held controller(25) with the positional reference device (1) and one or more computingdevices.

It should be appreciated that hand-held controller (25) may bewirelessly or otherwise electromagnetically connected to a computerdevice through communication module (37) such that an image of thelocation beacons (2, 3) as captured by the beacon sensing device (46)can be transmitted to computer a computer device to further includereceiving or storing instructions or data implemented in accordance withthe foregoing description of the present embodiments.

In addition to the non-transitory computer readable medium (35) of thehand-held controller (25), FIGS. 1, 4, and 5 depict components of othervarious subsystems including the microprocessor (26) and input/output(29) subsystems. As further diagrammed in FIG. 5, the microprocessorsubsystem (26) can include one or more of a controller (32),processor(s) (33), and a peripherals interface (34) which are executableto perform the methods described herein. The input/output subsystem (29)includes beacon sensing device/camera controller (45), inertialmeasurement units controller (47), touch interface controller (50), andforce sensor controller (52) which are executable to perform the methodsdescribed herein. Capacity for storing additional controllers (54) can,but need not necessarily, be included in input/output subsystem (29).

Referring primarily to FIGS. 1, 4, and 5, hand-held controller (25) caninclude inertial measurement units, such as multiaxis accelerometer(48A), multiaxis gyroscope (48B), and multiaxis magnetometer (49).Providing additional spatial information and inertial measurements tothe microprocessor (26) and non-transitory computer readable medium (35)via the inertial measurement units controller (47), each of themultiaxis accelerometer (48A), multiaxis gyroscope (48B), and multiaxismagnetometer (49) can be housed within the pen-shaped casing (57) of thehand-held controller (25). Specifically, the inertial measurements canbe one or more of acceleration, vibration, shock, tilt, and rotation. Itis contemplated that accelerometer (48A), gyroscope (48B), andmagnetometer (49) can be any commercially available three-axis motionsensing device. Each of accelerometer (48A), gyroscope (48B), andmagnetometer (49) can, but need not necessarily, bemicroelectromechanical systems technology.

According to various embodiments of the present disclosure,accelerometer (48A) can detect a current rate of acceleration andgyroscope (48B) can detect changes in rotational attributes, such aspitch, roll and yaw. Magnetometer (49) can be used, for example, toassist in calibration against orientation drift. The magnetometer (49)may be used instead of or in addition to accelerometer (48A) orgyroscope (48B).

In some embodiments, the inertial measurement units (48A, 48B, and 49)can be used in conjunction with the beacon sensing device (46) togenerate three-dimensional position and orientation from a twodimensional, linear image, such as the beacons (2, 3) at thepredetermined distance (58).

According to the principles of Tait-Bryan angles, three-dimensionalorientation can be fully described by a combination of three angles.These three angles are commonly referred to as roll ϕ, pitch φ, and yawψ and are attained by rotating along a single axis three times.Specifically, in a three-dimensional coordinate system having an x-axis(X), y-axis (Y), and z-axis (Z), hand-held controller (25) can berotated around Z first to create the yaw ψ angle then around Y to createthe pitch θ angle, and finally around X to create the roll ϕ angle.These three angles can be calculated by the inertial measurement unitsof the present disclosure, such as accelerometer (48A), gyroscope (48B),or magnetometer (49).

With continuing reference to FIG. 5, various other sensors can be housedwithin the hand-held controller (25) including touch sensor(s) (51) orforce sensor(s) (53) which are executable to perform the methodsdescribed herein. Capacity for storing more sensors (55) can, but neednot necessarily, be included.

Hand-held controller (25) can include power system (27), having a powermonitor (42), power regulator (43), and battery (44A, 44B) with radiofrequency circuitry (28) for powering the hand-held controller (25) inoperable communication with the positional reference device (1) and acomputer device having a display screen.

It should be appreciated that any or all of the various elements shownwithin or made up in combination within the hand-held controller (25)may be electrically or physically connected to one another.

Now referring primarily to FIGS. 6A, 6B, and 6C, one embodiment includesa pen-shaped casing (57) for the hand-held controller (25) including atouch sensitive pad (56) in operation by way of the user's finger (F),touch sensor(s) (51), and a capacitively sensible tip (30) forinteracting with a touch screen tablet (T). An eraser (31) located onthe opposite end (also referred to as the eraser end of the hand-heldcontroller (25)), also having a capacitively sensible portion can beused by a user for removing demarcations from the touch screen tablet(T) after having been made using the tip (30) on the user interface endof the hand-held controller (25).

Now referring primarily to FIG. 7 and FIG. 8, together, the hand-heldcontroller (25) and positional reference device (1) are depicted in athree-dimensional coordinate system (X, Y, Z). In some embodiments, athree-dimensional location of the hand-held controller (25) relative topositional reference device (1) can be determined using the physicalreference of the two beacons (2, 3) or the two emitters (7, 8) withinthe view of the beacon sensing device (46) at a fixed X, Y, Z position,where the distance (58) between the two beacons (2, 3) or emitters (7,8) is known and constant.

In some embodiments, beacon sensing device (46) will inherently includea given set of pixel dimensions, identified as pixel width (Wc) andpixel height (Hc), as well as focal point (C_(f)) and sensor plane(P)(as shown in the illustrative example of FIG. 8). A trackableposition location of the hand-held controller (25) can be determinedthrough an application of an algorithm or algorithms, including but notlimited to projective geometry perspective transformations combined withsensor signals from the inertial measurement units (48 A, 48B, and 49).

For example, and with continuing reference to FIG. 7 and FIG. 8,microprocessor (26) and input/output (29) subsystems can provide anapplication for identifying an origin point b₁ which correlates tobeacon (2) and identifying focal point (C_(f)) and secondarytriangulation point b₂ which correlates to beacon (3). Next, theposition of points b₁′ and b₂′ (which correspond to visualized beacons(2′ and 3′), in FIG. 8) are determined along the transmission pathwaysof signal transmission lines (7′, 8′), resulting in vector {right arrowover (b)}′. Finally, point (b*) can be determined by using distance (58)and the angles of the triangle formed between points b₁′ (2′), b₂′ (3′),and vector {right arrow over (b)}′.

The physical location and orientation of the hand-held controller (25)relative to the positional reference device (1) can be described throughachieving the solutions of angles σ_(r), μ, χ, γ, and γ′ where angles μ,χ, and γ of triangle Δb*b₁b₂ are labelled as (60), (61), and (62),respectively in FIGS. 7 through 8, and angles γ′ and σ_(r) of triangleΔb₁b₂c_(f) are labelled as (62′) and (59), respectively in FIGS. 7through 8.

Given the distance (58) is constant, the scalar value ∥{right arrow over(r)}∥ of vector {right arrow over (r)} from the direction of (C_(f)) tob₁ beacon (2) can be determined using the law of sines combined with thevalues of the solutions for calculation of angles σ_(r) (59), μ (60), χ(61), γ (62), and γ′ (62′).

Therefore, in order to solve for σ_(r) (59): first calculate horizontalθ_(1,2) angles and vertical ϕ_(1,2) angles of both beacon b₁ (2′) and b₂(3′) relative to the X, Y, Z coordinates:

${\theta_{1,2} = {\alpha_{H}\left( {\frac{x_{b_{1,2}}}{W_{c}} - \frac{1}{2}} \right)}}{\varphi_{1,2} = {\alpha_{V}\left( {\frac{y_{b_{1,2}}}{H_{c}} - \frac{1}{2}} \right)}}$

Where α_(H) is the beacon sensing device's (46) horizontal angle of viewand α_(v) is the beacon sensing device's vertical angle of view.

Next, calculate the differences of angles and coordinates:

θ_(r)=|θ₂−θ₁|

ϕ_(r)=|ϕ₂−ϕ₁|

Then calculate σ_(r) as the angle between detected beacon (2) and beacon(3):

σ_(r)=cos⁻¹(cos θ_(r) cos ϕ_(r))

In order to solve for χ (61), where χ represents the angle ∠b₁′b₂′c_(f)and equivalently ∠b₁b*c_(f) having been calculated using the law ofsines:

First calculate σ₁ as the angle between beacon (2) and beacon sensingdevice (46):

σ₁=cos⁻¹(cos θ₁ cos ϕ₁)

Next, calculate the distances between beacons' (2′, 3′) X-Y-Zcoordinates:

Δx _(b) =x _(b) ₂ −x _(b) ₁

Δy _(b) =y _(b) ₂ −y _(b) ₁

Calculate the scalar ∥{right arrow over (b)}′∥ of vector {right arrowover (b)}′ between visualized beacons b₁′ (2′), b₂′ (3′):

${\overset{\rightarrow}{b^{\prime}}} = {\sqrt{{\Delta y_{b}^{2}} + {\Delta x_{b}^{2}}} \times \frac{units}{pixel}}$

Calculate the inner angle χ between {right arrow over (b)}′ and vector{right arrow over (s)}, where vector {right arrow over (s)} has adirection from C_(f) to secondary triangulation point b₂ beacon (3):

$\frac{\frac{f}{\cos \mspace{11mu} \sigma_{1}}}{\sin (\chi)} = \frac{\overset{\rightarrow}{b^{\prime}}}{\sin \; \left( \sigma_{r} \right)}$$\chi = {\sin^{- 1}\left( {\frac{f}{\overset{\rightarrow}{b^{\prime}}}\frac{\sin \mspace{11mu} \sigma_{r}}{\cos \mspace{11mu} \sigma_{1}}} \right)}$

Now, in finding a solution for μ, where μ represents the angle ∠b*b₁b₂,in which μ can be extracted directly from rotation quaternion H_(r)representing the beacon sensing device's (46) spatial orientationrelative to the beacons (2, 3), given quaternions H are defined as:

geomagnetic north to the positional reference device (1) as H_(g);

positional reference device (1) to the sensor plane (P) as H_(r);

sensor plane (P) to the inertial measurement units (48A, 48B, 49) of thehand-held controller (25) as H_(c);

the inertial measurement units (48A, 48B, 49) of the hand-heldcontroller (25) to geomagnetic north as H_(d);

combine the four quaternions or rotations H_(g), H_(r), H_(c), and H_(d)then rotate a unit vector û of length ∥{right arrow over (r)}∥ toachieve vector {right arrow over (r)}. The components of vector {rightarrow over (r)} are the three-dimensional coordinates of focal point(C_(f)) relative to origin point b₁ beacon (2):

Generate rotation quaternion H_(r) from beacons (2, 3) coordinate systemto the position of the beacon sensing device (46) using the beacon b₁(2):

$\psi_{r} = {\tan^{- 1}\left( \frac{\Delta y_{b}}{\Delta x_{b}} \right)}$H_(r) = H(φ₁, θ₁, ψ_(r))

Convert quaternion H_(r) rotation matrix R where a quaternion is:

$\mspace{20mu} {H_{a} = {{a + {bi} + {cj} + {dk}} = {\begin{bmatrix}a \\b \\c \\d\end{bmatrix} = \begin{bmatrix}q_{a_{w}} \\q_{a_{x}} \\q_{a_{y}} \\q_{a_{z}}\end{bmatrix}}}}$ $R = {\begin{bmatrix}{\angle \; {\hat{z}}_{c}{\hat{z}}_{r}} & {\angle \; {\hat{y}}_{c}{\hat{z}}_{r}} & {\angle \; {\hat{x}}_{c}{\hat{z}}_{r}} \\{\angle \; {\hat{z}}_{c}{\hat{y}}_{r}} & {\angle \; {\hat{y}}_{c}{\hat{y}}_{r}} & {\angle \; {\hat{x}}_{c}{\hat{y}}_{r}} \\{\angle \; {\hat{z}}_{c}{\hat{x}}_{r}} & {\angle \; {\hat{y}}_{c}{\hat{x}}_{r}} & {\angle \; {\hat{x}}_{c}{\hat{x}}_{r}}\end{bmatrix} = {\quad\begin{bmatrix}{a^{2} + b^{2} - c^{2} - d^{2}} & {{2{bc}} - {2{ad}}} & {{2{bd}} + {2{ac}}} \\{{2{bc}} + {2{ad}}} & {a^{2} - b^{2} + c^{2} - d^{2}} & {{2{cd}} - {2{ab}}} \\{{2{bd}} - {2{ac}}} & {{2{cd}} + {2{ab}}} & {a^{2} - b^{2} - c^{2} + d^{2}}\end{bmatrix}}}$

Extract single angle rotation from {circumflex over (x)}_(c) to{circumflex over (x)}_(r) from H_(r) as R[{circumflex over(x)}_(c){circumflex over (x)}_(r)]:

μ=R[{circumflex over (x)} _(c) {circumflex over (x)} _(r)]=a ² −b ² −c ²+d ² =q _(r) _(w) ² −q _(r) _(x) ² −q _(r) _(y) ² +q _(r) _(z) ²

The equations for the solutions of γ & γ′ can be described where γrepresents the angle ∠b*b₂b₁ and γ′ is the supplement (γ+γ′=180°) of γ,as follows:

γ′=180°−γ=180°−μ−χ

γ=μ+χ

Next, in solving for ∥{right arrow over (r)}∥ where γ, σ_(r), anddistance (58) (symbolized in the equation below as ∥{right arrow over(d)}∥) are known, ∥{right arrow over (r)}∥) can be calculated using thelaw of sines:

$\frac{\overset{\rightarrow}{r}}{\sin (\gamma)} = \frac{\overset{\rightarrow}{d}}{\sin \left( \sigma_{r} \right)}$${\overset{\rightarrow}{r}} = {\frac{\sin (\gamma)}{\sin \left( \sigma_{r} \right)} \times {\overset{\rightarrow}{d}}}$

Vector {right arrow over (r)} can be a unit vector û multiplied by thescala ∥{right arrow over (r)}∥ and rotated by the combined rotationquaternions of the full system: H_(d), H_(c), H_(r), and H_(g). H_(d) isactively calculated using the inertial measurement units (48A, 48B, 49)of the hand-held controller (25). H_(c) is the pre-calculated rotationoffset between the inertial measurement units (48A, 48B, 49) and thesensor plane (P) of the beacon sensing device (46). H_(r) is calculatedas previously described above. H_(g) is the pre-calculated rotationoffset of positional reference device (1) and geomagnetic north.

Combine all quaternions into H_(a):

H _(a) =H _(d) H _(c) H _(r) H _(g)

Rotate a unit vector {right arrow over (u)} of length ∥{right arrow over(r)}∥ by H_(a) and extract final coordinates:

{right arrow over (r)}=H _(a)(∥{right arrow over (r)}∥û)

(x,y,Z)_(d)=[î _({right arrow over (r)}) ,ĵ _({right arrow over (r)}),{circumflex over (k)} _({right arrow over (r)})]

In another embodiment, the location of the hand-held controller (25) canbe calculated without any additional information from the accelerometer(48A), gyroscope (48B), or magnetometer (49).

Various other methods may be used to compute and ultimately determinethe position and orientation of the hand-held controller (25) relativeto the positional reference device (1), based on the data andinformation from the beacon sensing device (46) and inertial measurementunits (48A, 48B, 49). As an example of one such method, an algorithmknown as linear quadratic estimation which uses a series of measurementsobserved over time can be used. In linear quadratic estimation,statistical noise and other inaccuracies are inclusive while generatingestimates of unknown variables that are statistically more accurate thanany single, sole measurement. It should be appreciated that additionalmethods that use Bayesian inference and joint probability distributionare contemplated by the present embodiments, as well.

Now referring primarily to FIG. 9, hand-held controller (25) isillustrated in a three-dimensional cursor active volume which has beenmapped below from a two-dimensional cursor active area. Positionalreference device (1) is stationary and positioned adjacent to touchscreen tablet (T) via magnets (21, 22). Three-dimensional cursor (63),as shown on object (O) of the touch screen tablet (T) may be part of anycommercially available three-dimensional computer aided design system,using either vector-based graphics to depict the objects of traditionaldrafting, or producing raster graphics, which show the overallappearance of designed objects.

With reference to FIG. 10, in some embodiments, a user may move thehand-held controller (25) within the three-dimensional cursor activevolume for positional location and orientation tracking of the hand-heldcontroller (25), such that the physical location and orientation of thehand-held controller thereby becoming precisely correlated to thedisplay of the three-dimensional cursor (63) on the touch screen tablet(I). Thus, as the user moves the hand-held controller (25) thecorresponding three-dimensional cursor (63) is repositionable within thetwo-dimensional surface area of the touch screen tablet (T).

Referring primarily to FIG. 11, in some embodiments, the hand-heldcontroller is operable between the two different dimensionedenvironments. For example, a user may move the hand-held controller (25)within the three-dimensional cursor active volume for positionallocation and orientation of the hand-held controller (25), then engagethe two-dimensional active area by physically touching the hand-heldcontroller (25) to the touch screen table (T). It should be appreciatedany or all conventional functionality that exists between commerciallyavailable styli and touch screens is contemplated by the presentembodiments.

Now referring primarily to FIG. 12, three-dimensional cursor (63) isrepositionable on object (O) on the touch screen tablet (T) display.Object (O) can be represented within the three-dimensional cursor activevolume as a virtual object (O′) in three-dimensional space, therebypermitting the user to use the hand-held controller (25) formanipulating the virtual object (O′) in the three-dimensional cursoractive volume. It should be appreciated various holographic andstereographic displays may be used so that the object (O) on the touchscreen tablet (T) appears coincident with the object's (O) virtualrepresentation (O′) in the three-dimensional cursor active volume.

As can be easily understood from the foregoing, the basic concepts ofthe present invention may be embodied in a variety of ways. Theinvention involves numerous and varied embodiments of a system forconducting a performance analysis of a radio frequency generator andmethods for using such a system and the component parts including thebest mode.

As such, the particular embodiments or elements of the inventiondisclosed by the description or shown in the figures or tablesaccompanying this application are not intended to be limiting, butrather exemplary of the numerous and varied embodiments genericallyencompassed by the invention or equivalents encompassed with respect toany particular element thereof. In addition, the specific description ofa single embodiment or element of the invention may not explicitlydescribe all embodiments or elements possible; many alternatives areimplicitly disclosed by the description and figures.

It should be understood that each element of an apparatus or each stepof a method may be described by an apparatus term or method term. Suchterms can be substituted where desired to make explicit the implicitlybroad coverage to which this invention is entitled. As but one example,it should be understood that all steps of a method may be disclosed asan action, a means for taking that action, or as an element which causesthat action. Similarly, each element of an apparatus may be disclosed asthe physical element or the action which that physical elementfacilitates. As but one example, the disclosure of a “hand-heldcontroller” should be understood to encompass disclosure of the act of“controlling a hand-held device”—whether explicitly discussed ornot—and, conversely, were there effectively disclosure of the act of“controlling a hand-held device”, such a disclosure should be understoodto encompass disclosure of a “hand-held controller” and even a “meansfor controlling a hand-held device.” Such alternative terms for eachelement or step are to be understood to be explicitly included in thedescription.

In addition, as to each term used it should be understood that unlessits utilization in this application is inconsistent with suchinterpretation, common dictionary definitions should be understood to beincluded in the description for each term as contained in the RandomHouse Webster's Unabridged Dictionary, second edition, each definitionhereby incorporated by reference.

All numeric values herein are assumed to be modified by the term“about”, whether or not explicitly indicated. For the purposes of thepresent invention, ranges may be expressed as from “about” oneparticular value to “about” another particular value. When such a rangeis expressed, another embodiment includes from the one particular valueto the other particular value. The recitation of numerical ranges byendpoints includes all the numeric values subsumed within that range. Anumerical range of one to five includes for example the numeric values1, 1.5, 2, 2.75, 3, 3.80, 4, 5, and so forth. It will be furtherunderstood that the endpoints of each of the ranges are significant bothin relation to the other endpoint, and independently of the otherendpoint. When a value is expressed as an approximation by use of theantecedent “about,” it will be understood that the particular valueforms another embodiment. The term “about” generally refers to a rangeof numeric values that one of skill in the art would consider equivalentto the recited numeric value or having the same function or result.Similarly, the antecedent “substantially” means largely, but not wholly,the same form, manner or degree and the particular element will have arange of configurations as a person of ordinary skill in the art wouldconsider as having the same function or result. When a particularelement is expressed as an approximation by use of the antecedent“substantially,” it will be understood that the particular element formsanother embodiment.

Moreover, for the purposes of the present invention, the term “a” or“an” entity refers to one or more of that entity unless otherwiselimited. As such, the terms “a” or “an”, “one or more” and “at leastone” can be used interchangeably herein.

Thus, the applicant(s) should be understood to claim at least: i) eachof the systems for a positional reference device and hand-heldcontroller disclosed and described, ii) the related devices and methodsdisclosed and described, iii) similar, equivalent, and even implicitvariations of each of these devices and methods, iv) those alternativeembodiments which accomplish each of the functions shown, disclosed, ordescribed, v) those alternative designs and methods which accomplisheach of the functions shown as are implicit to accomplish that which isdisclosed and described, vi) each feature, component, and step shown asseparate and independent inventions, vii) the applications enhanced bythe various systems or components disclosed, viii) the resultingproducts produced by such systems or components, ix) methods andapparatuses substantially as described hereinbefore and with referenceto any of the accompanying examples, x) the various combinations andpermutations of each of the previous elements disclosed.

The background section of this patent application provides a statementof the field of endeavor to which the invention pertains. This sectionmay also incorporate or contain paraphrasing of certain United Statespatents, patent applications, publications, or subject matter of theclaimed invention useful in relating information, problems, or concernsabout the state of technology to which the invention is drawn toward. Itis not intended that any United States patent, patent application,publication, statement or other information cited or incorporated hereinbe interpreted, construed or deemed to be admitted as prior art withrespect to the invention.

The claims set forth in this specification, if any, are herebyincorporated by reference as part of this description of the invention,and the applicant expressly reserves the right to use all of or aportion of such incorporated content of such claims as additionaldescription to support any of or all of the claims or any element orcomponent thereof, and the applicant further expressly reserves theright to move any portion of or all of the incorporated content of suchclaims or any element or component thereof from the description into theclaims or vice-versa as necessary to define the matter for whichprotection is sought by this application or by any subsequentapplication or continuation, division, or continuation-in-partapplication thereof, or to obtain any benefit of, reduction in feespursuant to, or to comply with the patent laws, rules, or regulations ofany country or treaty, and such content incorporated by reference shallsurvive during the entire pendency of this application including anysubsequent continuation, division, or continuation-in-part applicationthereof or any reissue or extension thereon.

Additionally, the claims set forth in this specification, if any, arefurther intended to describe the metes and bounds of a limited number ofthe preferred embodiments of the invention and are not to be construedas the broadest embodiment of the invention or a complete listing ofembodiments of the invention that may be claimed. The applicant does notwaive any right to develop further claims based upon the description setforth above as a part of any continuation, division, orcontinuation-in-part, or similar application.

1. A system comprising: a positional reference indicator comprising atleast two location beacons coupled to said positional referenceindicator in a fixed spaced apart relation, defining a fixed distance; ahand-held controller comprising absolute orientation sensors, includinga gyroscope, a magnetometer, and an accelerometer, said absoluteorientation sensors generating sensor signals which vary based uponmovement of said hand-held controller, wherein said sensor signalsgenerated by said absolute orientation sensors comprise linear motion,rotation in space comprising roll ϕ, pitch φ, and yaw ψ, and earth'smagnetic fields, said hand-held controller further comprising a radiofrequency generator; a beacon sensing device comprising a camera housedwithin said hand-held controller, said beacon sensing device generatingreference data when positioned to sense said at least two locationbeacons; and a processor which receives said sensor signals and saidreference data, said processor communicatively coupled to anon-transitory computer readable medium containing computer-executableinstructions executable to compute a position and an orientation of saidhand-held controller relative to said positional reference indicator,wherein said position and said orientation of said hand-held controllerrelative to said positional reference indicator comprises athree-dimensional coordinate positional location of said hand-heldcontroller and an absolute orientation of said hand-held controllerwithin two different dimensioned environments comprising atwo-dimensional active area and a three-dimensional active volume;wherein said magnetometer operably coupled in conjunction with saidbeacon sensing device to generate said three-dimensional coordinatepositional location of said hand-held controller and said absoluteorientation of said hand-held controller from a two-dimensional imagecomprising said at least two location beacons at said fixed distance. 2.The system of claim 1, wherein said at least two location beaconscomprise light emitters generating at least one of radioluminescence,photoluminescence, and electroluminescence.
 3. The system of claim 2,wherein said at least two location beacons comprise light emittersgenerating infrared light.
 4. The system of claim 3, wherein saidhand-held controller comprises an approximately pen shaped stylus. 5.The system of claim 4, wherein said approximately pen shaped styluscomprises a user interface end and an eraser end.
 6. The system of claim5, wherein said user interface end of said approximately pen shapedstylus comprises a capacitively sensible tip.
 7. The system of claim 6,wherein said eraser end of said approximately pen shaped styluscomprises a capacitively sensible portion.
 8. The system of claim 7,wherein said absolute orientation sensors are selected from one or moreof an acceleration sensor, a vibration sensor, a shock sensor, a tiltsensor, and a rotation sensor.
 9. The system of claim 8, wherein saidabsolute orientation sensors are selected from one or more of amultiaxis gyroscope, a multiaxis magnetometer, and a multiaxisaccelerometer.
 10. The system of claim 9, wherein said movement of saidhand-held controller comprises at least one of acceleration, vibration,shock, tilt, and rotation. 11-13. (canceled)
 14. The system of claim 9,wherein said hand-held controller comprises a force sensing devicehoused within said hand-held controller, said force sensing device inoperable communication with said capacitively sensible tip.
 15. Thesystem of claim 14, wherein said hand-held controller comprises atouch-sensitive pad positioned on an outer casing of said hand-heldcontroller.
 16. At least one non-transitory computer readable mediumcontaining processor readable code for programming one or moreprocessors to perform a method comprising: providing a positionalreference indicator; detecting with a beacon sensing device at least twolocation beacons coupled in a fixed spaced apart relation to saidpositional reference device; generating inertial sensor signals by wayof causing movement of a hand-held controller; generating reference datafrom said beacon sensing device; receiving said inertial sensor signals;receiving said reference data; and computing a position and anorientation of said hand-held controller relative to said positionalreference indicator.
 17. The at least one non-transitory computerreadable medium of claim 16, wherein said position and said orientationof said hand-held controller relative to said positional referenceindicator comprises a three-dimensional coordinate location.
 18. The atleast one non-transitory computer readable medium of claim 17, whereinsaid position and said orientation of said hand-held controller relativeto said positional reference indicator comprises a cubic region.
 19. Theat least one non-transitory computer readable medium of claim 18,wherein said position and said orientation of said hand-held controllerrelative to said positional reference indicator comprises a set ofvectors.
 20. The at least one non-transitory computer readable medium ofclaim 19, wherein said position and said orientation of said hand-heldcontroller relative to said positional reference indicator comprises aset of rotations. 21-33. (canceled)
 34. The system of claim 1, whereinsaid positional reference indicator comprises one or more magnetscoupled to said positional reference indicator to allow said positionalreference indicator to attach to a laptop computer.